Electrical vehicle controller
The maximum frequency and the minimum frequency are extracted from frequencies corresponding to respective axle speeds. The minimum frequency is subtracted from the maximum frequency to achieve a first frequency deviation, and also the first frequency deviation is input as a primary delay system to achieve a second frequency deviation. Furthermore, the second frequency deviation is subtracted from the first frequency deviation to achieve an idle running detection setting deviation, and also an idle running detection set value for judging the idle running of the wheels at the frequency level is achieved. The idle running frequency deviation and the idle running detection set value are compared with each other to output an idle running detection signal, and also a torque correction amount of an AC electric motor is calculated on the basis of the idle running detection signal.
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The present invention relates to an electrical vehicle controller for controlling idle running of an electrical vehicle driven by an AC electric motor.
BACKGROUND ARTAn electrical vehicle is normally accelerated and decelerated by the adhesive force between each wheel and a rail. However, when a driving force larger than the adhesive force is applied at the starting time of the AC electric motor, idle running of wheels occurs. On the other hand, when a braking force larger than the adhesive force is applied at the braking time, slip of the wheels occurs. Therefore, the acceleration/deceleration performance of electrical vehicles has been hitherto enhanced by detecting idle running/slip and reducing occurring torque of the AC electric motor to rapidly induce re-adhesion. For example, according to Patent Document 1, the average speed of the rotational velocities of plural AC electric motors is first calculated, a wheel diameter difference correcting amount of wheels joined to each AC electric motor is calculated on the basis of the ratio between the average speed and the rotational speed of each AC electric motor, and then a reference speed serving as a reference for the re-adhesion control in each control unit is calculated on the basis of the wheel diameter difference correcting amount and the average speed. The idle running of the wheels is detected on the basis of the average speed and the rotational speed of the AC electric motor to be controlled every control unit, and the torque of the AC electric motor is narrowed down in accordance with the difference between the reference speed and the rotational speed of the AC electric motor to be controlled every control unit, thereby performing the idle running re-adhesion control.
Patent Document 1: JP-A-2001-145207 (Page 3, FIG. 1)
DISCLOSURE OF THE INVENTION Problem to be Solved by the InventionHowever, in the conventional electrical vehicle controller, the idle running is detected on the basis of the average speed of the AC electric motor and the rotational speed of the AC electric motor to be controlled as described above, and thus the torque control is carried out in accordance with the difference between the reference speed and the rotational speed of the AC electric motor to be controlled every control unit. Therefore, average speed calculating means and the wheel diameter difference correcting amount calculating means are necessary, and thus there is a problem that the control is complicated.
The present has been implemented to solve the foregoing problem, and has an object to provide an electrical vehicle controller that can simplify the control and perform rapid processing.
Means for Solving the ProblemAccording to the invention, an electrical vehicle controller for detecting the axle speeds of axles corresponding to plural AC electric motors torque-controlled by an inverter and detecting idle running of the axle directly connected to the axles comprises: high-level priority calculating means for extracting the maximum frequency from the frequencies corresponding to the respective axle speeds; low-level priority calculating means for extracting the minimum frequency from the frequencies corresponding to the respective axle speeds; a first subtracter for subtracting the minimum frequency from the maximum frequency to calculate a first frequency deviation; primary delay means for receiving the first frequency deviation as a primary delay system to calculate a second frequency deviation; a second subtracter for subtracting the second frequency deviation from the first frequency deviation to calculate an idle running frequency deviation; idle running detection setting means for outputting an idle running detection set value for judging the idle running of the wheels at the frequency level; idle detecting means for comparing the idle running frequency deviation with the idle running detection set value and outputting an idle running detection signal when the idle running frequency deviation is larger than the idle running detecting set value; and torque correcting means for calculating a torque correction amount of the AC electric motor on the basis of the idle running detection signal and instructing torque correction to the inverter.
Advantage of the InventionAccording to the invention, the second frequency deviation is subtracted from the first frequency deviation to calculate the idle running frequency deviation that varies only under the idle running state, and the idle running frequency deviation and the idle running detecting set value are compared with each other to output the idle running detection signal. Therefore, the idle running detection can be instantaneously performed without being affected by a wheel diameter difference, and there can be achieved an effect that simple and rapid/accurate torque correction control can be performed.
BEST MODES FOR CARRYING OUT THE INVENTION FIRST EMBODIMENTThe first frequency deviation ΔFM1 is input to primary delay means 23 as a primary delay system to calculate a second frequency deviation ΔFM2. Subsequently, in a second subtracter 24, the second frequency deviation ΔFM2 is subtracted from the first frequency deviation ΔFM1 to calculate an idle running frequency deviation ΔFMS.
Furthermore, an idle running detecting set value ΔFMA1 for judging the idle running at the frequency level is output from idle running detection setting means 25. In idle running detecting means 26, the idle running frequency deviation ΔFMS and the idle running detection setting value ΔFMA1 are compared with each other, and when the idle running frequency deviation ΔFMS is larger than the idle running detection setting value ΔFMA1, the idle running detecting means 26 outputs an idle running detection signal 26a having the analog amount corresponding to the difference between the idle running frequency deviation and the idle running detection setting value. In a torque instruction correcting means 27 to which the idle running detection signal 26a is input, a torque correction amount ΔT of a torque pattern is calculated in accordance with the idle running detection signal 26a.
Furthermore, a driver's platform instruction signal 16 corresponding to power running notch instructed from a driver's platform at the power running time of the electrical vehicle and a load weighting instruction signal 17 corresponding to the weight of the electrical vehicle are input to a torque instruction calculating means 28. In the torque instruction calculating means 28, a torque instruction signal TP corresponding to the torque to be output the AC electric motors 4 to 7 is output from both the instruction signals 16, 17. The torque instruction correcting means 29 outputs only when idle running occurs, and it subtracts the torque correction amount ΔT from the torque instruction signal TP to narrow down the torque instruction correcting signal TP1. Subsequently, vector control calculating means 30 calculates the q-axis current corresponding to the torque of the AC electric motors 4 to 7 on the basis of the input current INU, INV, INW of the AC electric motors 4 to 7 and the torque instruction correction signal TP1, and outputs a q-axis current control signal 18. The inverter 3 reduces the torque pattern on the basis of the q-axis current control signal 18 to carry out idle running re-adhesion control.
In the electrical vehicle controller 12 thus constructed, the second frequency deviation ΔFM2 which varies in accordance with a wheel diameter difference is calculated in the primary delay means 23 to which the first frequency deviation ΔFM1 is input, and the second frequency deviation ΔFM2 is subtracted from the first frequency deviation ΔFM1 in the second subtracter 24 to calculate the idle frequency deviation ΔFMS varying only at the idle running time. In the idle running detecting means 26, the idle detection is carried out through the comparison between the idle running frequency deviation ΔFMS and ΔFMA1. Therefore, as is apparent from the frequency-time characteristic of each signal shown in
In
Subsequently, in converting means 33, the temporary time variation amount ΔFM2D(t2) is converted to a variation amount of the time t1, the second time variation amount ΔFM2D is output. Subsequently, the first time variation amount ΔFM1D is subtracted from the second time variation amount ΔFM2D in the second subtracter 34 to calculate an idle running frequency deviation ΔFMS. Furthermore, an idle running detection set value ΔFMAD for judging the idle running at the frequency level is output from the idle running detection setting means 35. When the idle running frequency deviation ΔFMS is larger than the idle running detection set value ΔFMAD in the idle running detecting means 36, an idle running detection signal 36a having the analog amount corresponding to the difference between them is output.
In torque instruction correcting means 37 to which the idle running detection signal 36a is input, the torque correction amount ΔT of the torque pattern is calculated in accordance with the idle running detection signal 36a. Subsequently, as in the case of the first embodiment, the q-axis current control signal 18 is supplied to the inverter 3 through the vector control calculating means 30 on the basis of the torque instruction correction signal TP1 achieved by subtracting the torque correction amount ΔT from the torque instruction signal TP, and the q-axis current of the AC electric motors 4 to 7 is controlled, thereby performing the idle running re-adhesion control.
In the electrical vehicle controller 12 thus constructed, the first time variation amount for the time t1 is subtracted from the second time variation amount for the time t2 to calculate the idle running frequency deviation ΔFMS, and when the idle running frequency deviation ΔFMS is larger than the idle running detection set value ΔFMAD, the idle running is detected and the idle running detection signal is output. Therefore, as is apparent from the frequency-time characteristic of each signal shown in
In
Subsequently, in the idle running detecting means 39, the idle running frequency deviation ΔFMS and the idle running detection set value ΔFMA2 are compared with each other, and when the idle running frequency deviation ΔFMS is larger than the idle running detection set value ΔFMA2, the idle running detection signal 39a having the analog amount corresponding to the difference between them is output. The torque correction amount ΔT of the torque pattern is calculated in accordance with the idle running detection signal 39a. Subsequently, as in the case of the first embodiment, the torque correction amount ΔT is subtracted from the torque instruction signal TP, and the q-axis current control of the AC electric motors 4 to 7 is carried out through the vector control calculating means 30 on the basis of the torque correction signal TP1.
As is apparent from the frequency-time characteristic of each signal shown in
From the first embodiment, the four AC electric motors 4 to 7 are driven in the third embodiment. However, the same effect is expected when four or more AC electric motors are driven.
FOURTH EMBODIMENTThe subsequent embodiments relate to a case where slip control is also carried out in addition to the idle running control.
In
Furthermore, the brake instruction signal 41 corresponding to power running notch instructed from a driver's platform when the electric vehicle is braked, and the brake force instruction signal 42 corresponding to the brake force of the electrical vehicle from the brake reception device are input to the torque instruction calculating means 28. In the torque calculating means, the torque instruction signal TP corresponding to the torque to be output to the AC electric motors 4 to 7 on the basis of both the instruction signals 41, 42. Subsequently, as in the case of the first embodiment, the q-axis current control of the AC electric motors is carried out through the vector control calculating means 30 on the basis of the torque instruction correction signal TP1 achieved by subtracting the torque correction amount ΔT occurring under slip from the torque instruction signal TP.
As described above, when the electrical vehicle is slipped under braking operation, the second frequency deviation ΔFM2 varying in accordance with the wheel diameter difference is calculated in the primary delay means 23 to which the first frequency deviation ΔFM1 is input, and in the second subtracter 24, the second frequency deviation ΔFM2 is subtracted from the first frequency deviation ΔFM1 to calculate the slip frequency deviation ΔFMS1 varying only under slip. When the slip frequency deviation ΔFMS1 is larger than the slip detection set value ΔFMA3 in the slip detecting means 44, slip is detected and thus the slip detection signal is output. Therefore, as is apparent from the frequency-time characteristic of each signal shown in
In
Subsequently, the converting means 33 converts the temporary time variation amount ΔFM2D(t2) to the variation amount of the time t1, and outputs the second time variation amount ΔFM2D. In the second subtracter 34, the first time variation amount ΔFM1D is subtracted from the second time variation amount ΔFM2d to calculate the slip frequency deviation ΔFMS1. Furthermore, the slip detection set value ΔFMAD1 for judging the slip at the frequency level is output from slip detection setting means 46. When the slip frequency deviation ΔFMS1 is larger than the slip detection set value ΔFMAD1 in slip detecting means 47, a slip detection signal 47a having the analog amount corresponding to the difference therebetween is output.
The torque correction amount ΔT of the torque pattern is calculated in accordance with the slip detection signal 47a in torque instruction correcting means 48 to which the slip detection signal 47a is input. Subsequently, as in the case of the first embodiment, the q-axis current control signal 18 is supplied to the inverter 3 through the vector control calculating means 30 on the basis of the torque instruction correction signal TP1 achieved by subtracting the torque correction amount ΔT from the torque instruction signal TP, and the q-axis current of the AC electric motors 4 to 7 is controlled to perform the slip re-adhesive control.
In the electrical vehicle controller 12 thus constructed, the first time variation amount for the time t1 is subtracted from the second time variation amount for the time t2 to calculate the slip frequency deviation ΔFMS1, and when the slip frequency deviation ΔFMS1 is larger than the slip detection set value ΔFMAD1, the slip is detected, and the slip detection signal is output. Therefore, as is apparent from the frequency-time characteristic of each signal shown in
In
Subsequently, in slip detecting means 50, the slip frequency deviation ΔFMS1 and the slip detection set value ΔFMA4 are compared with each other, and when the slip frequency deviation ΔFMS1 is larger than the slip detection set value ΔFMA4, a slip detection signal 50a having the analog amount corresponding to the difference therebetween is output. The torque correction amount ΔT of the torque pattern is calculated in accordance with the slip detection signal 50a. Subsequently, as in the case of the first embodiment, the torque correction amount ΔT is subtracted from the torque instruction signal TP, and the q-axis current control of the AC electric motors 4 to 7 is carried out through the vector control calculating means 30 on the basis of the torque instruction correcting signal TP1.
As is apparent from the frequency-time characteristic of each signal shown in
In the fourth to sixth embodiments, the four AC electric motors 4 to 7 are driven, however, the invention is expected to have the same effect in a case where four or more AC electric motors are driven.
3 inverter, 4 to 7 AC electric motors, 12 electrical vehicle controller, 20 high-level priority calculating means, 21 low-level priority calculating means, 22 first subtracter, 23 primary delay means, 24 second subtracter, 25, 35, 38 idle running detection setting means, 26, 36, 39 idle running detecting means, 27, 29, 37, 40, 45, 48, 51 torque instruction correcting means, 28 torque instruction calculating means, 30 vector control calculating means, 31 first time-differentiating means, 32 second time-differentiating means, 33 converting means, 34 second subtracter, 41 brake instruction signal, 42 brake force instruction signal, 43, 46, 49 slip detection setting means, 44, 47, 50 slip detecting means
Claims
1. An electrical vehicle controller for detecting axle speeds of axles corresponding to plural AC electric motors torque-controlled by an inverter and detecting idle running of wheels directly joined to the axles, comprising: high-level priority calculating means for extracting the maximum frequency from frequencies corresponding to the respective axle speeds; low-level priority calculating means for extracting the minimum frequency from the frequencies corresponding to the respective axle speeds; a first subtracter for subtracting the minimum frequency from the maximum frequency to calculate a first frequency deviation; primary delay means to which the first frequency deviation is input as a primary delay system to calculate a second frequency deviation; a second subtracter for subtracting the second frequency deviation from the first frequency deviation to calculate an idle running frequency deviation; idle running detection setting means for outputting an idle running detection set value for judging the idle running of the wheels at the frequency level; idle running detecting means for comparing the idle running frequency deviation and the idle running detection set value with each other and outputting an idle running detection signal when the idle running frequency deviation is larger than the idle running detection set value; and torque instruction correcting means for calculating a torque correction amount of the AC electric motors on the basis of the idle running detection signal and instructing torque correction to the inverter.
2. An electrical vehicle controller for detecting axle speeds of axles corresponding to plural AC electric motors torque-controlled by an inverter and detecting idle running of wheels directly joined to the axles, in which plural induction motors corresponding to a predetermined number of drying wheel shafts are driven in parallel by one inverter, comprising: high-level priority calculating means for extracting the maximum frequency from frequencies corresponding to the respective axle speeds; low-level priority calculating means for extracting the minimum frequency from the frequencies corresponding to the respective axle speeds; a first subtracter for subtracting the minimum frequency from the maximum frequency to calculate a first frequency deviation; first time-differentiating means for time-differentiating the first frequency deviation from a predetermined time measurement start time for a predetermined time t1 to calculate a first time variation amount; second time-differentiating means for time-differentiating the first frequency deviation from the time measurement start time for a predetermined time t2 longer than the time t1 to calculate a temporary time variation amount; converting means for converting the temporary time variation amount to the variation amount of the time t1 to calculate a second time variation amount; a second subtracter for subtracting the first time variation amount from the second time variation amount to calculate an idle running frequency deviation; idle running detection setting means for outputting an idle running detection set value for judging the idle running of the wheels at the frequency level; idle running detection signal generating means for comparing the idle running frequency deviation with the idle running detection set value and outputting an idle running detection signal when the idle running frequency deviation is larger than the idle running detection set value; and torque instruction correcting means for calculating the torque correction amount of the AC electric motors on the basis of the idle running detection signal and instructing torque correction to the inverter.
3. An electrical vehicle controller for detecting axle speeds of axles corresponding to plural AC electric motors torque-controlled by an inverter and detecting idle running of wheels directly joined to the axles, comprising: high-level priority calculating means for extracting the maximum frequency from frequencies corresponding to the respective axle speeds; low-level priority calculating means for extracting the minimum frequency from the frequencies corresponding to the respective axle speeds; a first subtracter for subtracting the minimum frequency from the maximum frequency to calculate a first frequency deviation; primary delay means to which the first frequency deviation is input as a primary delay system to subtract a second frequency deviation; a second subtracter for subtracting the second frequency deviation from the first frequency deviation to calculate an idle running frequency deviation; idle running detection setting means for carrying out idle running detection setting for judging the idle running of the axles at the frequency level and comparing the idle running detection set value with a predetermined value when the frequency corresponding to the axle speed reaches a predetermined value, and outputting the idle running detection set value with the idle running frequency deviation reducing the idle running detection set value by only a predetermined value; idle running detecting means for comparing the idle running frequency deviation and the idle running detection set value with each other and outputting an idle running detection signal when the idle running frequency deviation is larger than the idle running detection set value; and torque instruction correcting means for calculating a torque correction amount of the AC electric motors on the basis of the idle running detection signal and instructing torque correction to the inverter.
4. The electrical vehicle controller according to claim 3, wherein the idle running detection set value is switched in conformity with the motor characteristic when the frequency corresponding to the axle speed shifts from the constant acceleration area of the induction motor and reaches the motor characteristic area.
5. The electrical vehicle controller according to claim 1, wherein by detecting slip occurring in the wheels directly-connected to the axles corresponding to the plural AC electric motors during braking operation of the vehicle, torque control is carried out.
6. The electrical vehicle controller according to claim 2, wherein by detecting slip occurring in the wheels directly-connected to the axles corresponding to the plural AC electric motors during braking operation of the vehicle, torque control is carried out.
7. The electrical vehicle controller according to claim 3, wherein by detecting slip occurring in the wheels directly-connected to the axles corresponding to the plural AC electric motors during braking operation of the vehicle, torque control is carried out.
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Type: Grant
Filed: May 17, 2005
Date of Patent: Oct 30, 2007
Patent Publication Number: 20070063662
Assignee: Mitsubishi Denki Kabushiki Kaisha (Chiyoda-Ku, Tokyo)
Inventors: Ryo Yokozutsumi (Tokyo), Hideto Negoro (Tokyo)
Primary Examiner: Lincoln Donovan
Assistant Examiner: Renata McCloud
Attorney: Buchanan Ingersoll & Rooney PC
Application Number: 10/570,997
International Classification: H02P 7/00 (20060101);